Alignment of LiDAR and Long-Wave Infrared Sensors to a GPS/INS by Non-Experts

Abstract

Fusing several high-resolution sensors in real-time requires precise sensor-to-sensor extrinsic calibration. A robust and efficient extrinsic calibration apparatus and procedure is required for applications where a layman must determine the extrinsic calibration parameters. A complete method and fiducial are presented that captures data points, measures error in the calibration process, and produces final calibration parameters requiring no specialized knowledge on behalf of the layman operator. The system is self-contained and reliable for deployment in austere locations where no additional equipment or expertise could possibly reach. The system is validated through several synthetic and real data trials using a prototype fiducial.